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I assume it is an automatic. change your gearbox transmission oil or at least check it. It should be red in colour if its brown or black change it asap as old worn out oil can cause alsorts of problems with an auto box

Is it a full auto box or auto with manual selection. Full auto has only 1,2,D,R. If its full auto take it to a regular tyre/exhaust place and ask them to help.
The vw and audi auto gearboxes that also have selectable manual gears are only reliable when they have the correct clean oil in them.
The oil is special and expensive, and you must only use the oil from VW. If you havent changed the gearbox oil, get it done. Its much cheaper as a first step, compared to taking the gearbox apart to check for wear or damage.

is this a manual or a auto ?? have to be carefull on this site as their mainly american and never seen a manual car let alone driven one ,if its manual then the drain plug will be on teh bottom of the diferential unit with a internal hexagon and the filler plug will be around the half way up the gearbox mark but it can vary between teh wheel side or the front on these cars fill with EP90 hypoid gear oil but in all honesty i never change manual gearbox oil it will last forever unless vehicle has been under water for whatever reason or i have done a clutch which means draining to remove the drive shafts .

If you're not mecahnically minded, this isnt a job for you.
There is no filler cap for gearbox oil. The gearbox will have a level check plug, and a separte drain plug. Both will probably require a specific plug tool to remove (i.e. not just an ordinary spanner or socket), and can only be accessed from underneath the car.
Gearbox oil level has to be checked with the car level, so a garage will put the car on a lift so they can work underneath it. So, even if you jacked it up (never work under a car only supported by a jack ! Use ramps or axle stands as well) and could get at and undo the plugs, the car wont be level and therefore you wont put the correct amount of oil in.
Suggest you take it to a garage.

I had the same problem I changed the transmission fluid & put a new filter in the trans, this fixed it good until I put my foot down to overtake the trans kicked down to 2nd gear & the hold light started flashing again & the trans started slipping again. I stressed over it for a day or 2 & then I took it out for a drive & thrashed it, Low & behold it came right. When you change fluid its impossible to get all the old fluid out because the torque converter holds a liter or two under pressure, so when I put my foot down some of the gunk blew through & blocked the pump it looses pressure & cant change gear. You need to get it flushed by a transmission specialist

There are three ecu settings? gearbox / main ecu / and center control, they all will need to be updated then a process called learning cycle which has to be reset by the technicians, then the car needs to be driven to adapt the new transmission.